CN107139907A - Braking pressure control method and apparatus for automatic driving vehicle - Google Patents
Braking pressure control method and apparatus for automatic driving vehicle Download PDFInfo
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- CN107139907A CN107139907A CN201710383473.8A CN201710383473A CN107139907A CN 107139907 A CN107139907 A CN 107139907A CN 201710383473 A CN201710383473 A CN 201710383473A CN 107139907 A CN107139907 A CN 107139907A
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- brake pressure
- wheel
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- valve cell
- ecu
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
- B60T13/66—Electrical control in fluid-pressure brake systems
- B60T13/70—Electrical control in fluid-pressure brake systems by fluid-controlled switches
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses a kind of braking pressure control method and apparatus for automatic driving vehicle, belong to vehicle brake field.Device includes：Automatic driving vehicle includes CAN, top level control device, brake pressure control apparatus and wheel, and brake pressure control apparatus is connected with wheel, and brake pressure control apparatus includes electronic control unit ECU, hydraulic module and motor；ECU, hydraulic module are connected between any two with motor；ECU, for the first pressure control instruction sent by CAN reception top level control device, brake pressure increase, constant or reduction instruction of the first pressure control instruction for control automatic driving vehicle；ECU, is additionally operable to control the working condition of hydraulic module and the working condition of motor according to first pressure control instruction；Hydraulic module and motor, under ECU controls, control to be applied to brake pressure increase, constant or reduction on wheel.
Description
Technical field
The present invention relates to motor vehicle braking system technical field, more particularly to a kind of brake pressure for automatic driving vehicle
Control method and device.
Background technology
With the development of intellectual technology and Internet technology, automatic driving vehicle arises at the historic moment.The peace of automatic driving vehicle
Total factor is one of factor that those skilled in the art first have to consideration, especially in the process of moving, how to control nobody to drive
The brake pressure of vehicle is sailed so as to by its safety arrestment, the problem of more being paid close attention to as those skilled in the art.
Currently, in motion, detect road ahead by devices such as infrared ray, radars has barrier to automatic driving vehicle
When, generally require to apply brake pressure by the wheel to automatic driving vehicle, so that automatic driving vehicle can be safe
Braking.However, automatic driving vehicle is in research process at home, therefore need a kind of system for automatic driving vehicle badly
Dynamic pressure force control device, realizes Braking mode.
The content of the invention
In order to solve problem of the prior art, the invention provides a kind of braking pressure control for automatic driving vehicle
Method and apparatus.Technical scheme is as follows：
First aspect is wrapped in automatic driving vehicle there is provided a kind of brake pressure control apparatus for automatic driving vehicle
Include control area net(CAN) network CAN, top level control device, brake pressure control apparatus and wheel, the top level control device with it is described
Brake pressure control apparatus is communicated by the CAN, and the brake pressure control apparatus is connected with the wheel,
The brake pressure control apparatus includes electronic control unit ECU, hydraulic module and motor；The ECU, the hydraulic module and
The motor is connected between any two；
The ECU, for receiving the first pressure control instruction that the top level control device is sent by the CAN,
The first pressure control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
The ECU, is additionally operable to control working condition and the institute of the hydraulic module according to the first pressure control instruction
State the working condition of motor；
The hydraulic module and the motor, under ECU controls, control to be applied to the braking on the wheel
Pressure increase, constant or reduction.
Optionally, in the automatic driving vehicle also include master cylinder, the hydraulic module include normally opened valve cell, often
Valve closing unit, feed liquor valve cell, liquid valve unit, master cylinder one end respectively with the normally opened valve cell, it is described often
One end of valve closing unit is connected, and the other end of the normally opened valve cell is connected with the feed liquor valve cell, the normally close valve
The other end of unit is connected with the liquid valve, the feed liquor valve cell and the liquid valve unit respectively with the wheel phase
Connection；
When the first pressure instructs the instruction to control the brake pressure increase, the ECU is additionally operable to control institute
State normally closed valve cell, the normally opened valve cell and the motor respectively by its corresponding default conditions be revised as its corresponding first
Designated state, the feed liquor valve cell and the liquid valve unit keep its corresponding default conditions, with by controlling the system
Liquid in dynamic master cylinder causes the brake pressure being applied on the wheel to increase；
When the first pressure is instructed as the constant instruction of the control brake pressure, the ECU is additionally operable to control institute
State normally closed valve cell, the normally opened valve cell, the liquid valve unit and the motor and keep its corresponding default conditions, it is described
Feed liquor valve cell is revised as its corresponding second designated state by its default conditions, with by controlling the liquid in the master cylinder
Body causes the brake pressure being applied on the wheel to keep constant；
When the first pressure instructs the instruction to control the brake pressure reduction, the ECU is additionally operable to control institute
State normally closed valve cell and the normally opened valve cell keeps its corresponding default conditions, the feed liquor valve cell, the liquid valve list
First and described motor is revised as its corresponding 3rd designated state by its corresponding default conditions respectively, with by controlling the system
Liquid in dynamic master cylinder causes the brake pressure being applied on the wheel to keep constant.
Optionally, the brake pressure control apparatus is also connected including electronic stability module ESP, the ESP with the ECU
Connect；
The ESP, for detecting the rotating speed of the wheel and the travel speed of the automatic driving vehicle；
The ESP, is additionally operable to, when the rotating speed is less than the travel speed, carry out braking pressure control, and to described
ECU sends the working condition of the ESP；
The ECU, is additionally operable to receive the working condition of the ESP, and second pressure is generated according to the working condition of the ESP
Control instruction, according to the second pressure control instruction, controls the working condition of the hydraulic module and the work of the motor
State；
The hydraulic module and the motor, under ECU controls, control to be applied to the braking on the wheel
Pressure is less than predetermined threshold value.
Optionally, the ECU, is additionally operable to be instructed according to the second pressure, controls the normally closed valve cell, described normally opened
Valve cell, the liquid valve unit and the motor are revised as its corresponding 4th specified shape by its corresponding default conditions respectively
State, the feed liquor valve cell keeps its default conditions, with by controlling the liquid in the master cylinder so that being applied to described
Brake pressure on wheel is less than the predetermined threshold value.
Optionally, the automatic driving vehicle also includes instrument, and the instrument passes through the CAN and the ESP phases
Connection；
When the brake pressure control apparatus failure, the ESP is additionally operable to receive on described by the CAN
The 3rd Stress control instruction that layer controller is sent, instructs according to the 3rd Stress control, controls the automatic driving vehicle
Brake pressure, the 3rd Stress control instruction is controls the brake pressure increase, constant or subtract of the automatic driving vehicle
Small instruction；
The ESP, is additionally operable to send fault cues message to the instrument by the CAN；
The instrument, for receiving the fault cues message, shows the fault cues message.
Second aspect is there is provided a kind of braking pressure control method for automatic driving vehicle, and methods described is applied in system
In dynamic pressure force control device, automatic driving vehicle includes control area net(CAN) network CAN, top level control device, the braking pressure
Force control device and wheel, the top level control device are communicated with the brake pressure control apparatus by the CAN,
The brake pressure control apparatus is connected with the wheel, the brake pressure control apparatus include electronic control unit ECU,
Hydraulic module and motor；The ECU, the hydraulic module are connected between any two with the motor；
The ECU receives the first pressure control instruction that the top level control device is sent by the CAN, and described the
The instruction of one Stress control is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
The ECU controls the working condition and the motor of the hydraulic module according to the first pressure control instruction
Working condition；
The hydraulic module and the motor are under ECU controls, and control is applied to the brake pressure on the wheel
Increase, constant or reduction.
Optionally, in the automatic driving vehicle also include master cylinder, the hydraulic module include normally opened valve cell, often
Valve closing unit, feed liquor valve cell, liquid valve unit, master cylinder one end respectively with the normally opened valve cell, it is described often
One end of valve closing unit is connected, and the other end of the normally opened valve cell is connected with the feed liquor valve cell, the normally close valve
The other end of unit is connected with the liquid valve, the feed liquor valve cell and the liquid valve unit respectively with the wheel phase
Connection；
When the first pressure instructs the instruction to control the brake pressure increase, the ECU controls are described normally closed
Valve cell, the normally opened valve cell and the motor are revised as its corresponding first specified shape by its corresponding default conditions respectively
State, the feed liquor valve cell and the liquid valve unit keep its corresponding default conditions, with by controlling the master cylinder
In liquid the brake pressure that is applied on the wheel is increased；
When the first pressure is instructed as the constant instruction of the control brake pressure, the ECU controls are described normally closed
Valve cell, the normally opened valve cell, the liquid valve unit and the motor keep its corresponding default conditions, the liquid feed valve
Unit is revised as its corresponding second designated state by its default conditions, with by controlling the liquid in the master cylinder to cause
The brake pressure being applied on the wheel keeps constant；
When the first pressure instructs the instruction to control the brake pressure reduction, the ECU controls are described normally closed
Valve cell and the normally opened valve cell keep its corresponding default conditions, the feed liquor valve cell, the liquid valve unit and institute
State motor and be revised as its corresponding 3rd designated state by its corresponding default conditions respectively, with by controlling the master cylinder
In liquid cause the brake pressure that is applied on the wheel to keep constant.
Optionally, the brake pressure control apparatus is also connected including electronic stability module ESP, the ESP with the ECU
Connect；
The ESP detects the rotating speed of the wheel and the travel speed of the automatic driving vehicle；
When the rotating speed is less than the travel speed, the ESP carries out braking pressure control, and is sent to the ECU
The working condition of the ESP；
The ECU receives the working condition of the ESP, and generating second pressure control according to the working condition of the ESP refers to
Order, according to the second pressure control instruction, controls the working condition of the hydraulic module and the working condition of the motor；
The hydraulic module and the motor are under ECU controls, and control is applied to the brake pressure on the wheel
Less than predetermined threshold value.
Optionally, the ECU is instructed according to the second pressure, control the normally closed valve cell, the normally opened valve cell,
The liquid valve unit and the motor are revised as its corresponding 4th designated state by its corresponding default conditions respectively, described
Feed liquor valve cell keeps its default conditions, with by controlling the liquid in the master cylinder so that being applied on the wheel
Brake pressure is less than the predetermined threshold value.
Optionally, the automatic driving vehicle also includes instrument, and the instrument passes through the CAN and the ESP phases
Connection；
When the brake pressure control apparatus failure, the ESP receives the top level control device by the CAN
The 3rd Stress control instruction sent, instructs according to the 3rd Stress control, controls the braking pressure of the automatic driving vehicle
Power, the 3rd Stress control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
The ESP sends fault cues message by the CAN to the instrument；
The instrument receives the fault cues message, shows the fault cues message.
In the embodiment of the present invention, automatic driving vehicle includes CAN, top level control device, brake pressure control apparatus
And wheel, the top level control device communicated with the brake pressure control apparatus by the CAN, braking pressure control dress
Put and be connected with the wheel, the brake pressure control apparatus includes electronic control unit ECU101, hydraulic module 102 and motor
103；The ECU101, the hydraulic module 102 are connected between any two with the motor 103；The ECU101, for passing through the CAN
Bus receives the first pressure control instruction of top level control device transmission, and this is unmanned for control for the first pressure control instruction
The brake pressure increase of vehicle, constant or reduction instruction；The ECU101, is additionally operable to according to the first pressure control instruction, control
Make the working condition of the hydraulic module 102 and the working condition of the motor 103.So that the hydraulic module 102 and the motor
103 under ECU101 controls, and control is applied to brake pressure increase, constant or reduction on the wheel.
Brief description of the drawings
Fig. 1 is a kind of structure chart of automatic driving vehicle provided in an embodiment of the present invention；
Fig. 2 is a kind of brake pressure control apparatus for automatic driving vehicle provided in an embodiment of the present invention；
Fig. 3 is a kind of loop diagram of brake pressure control apparatus provided in an embodiment of the present invention；
Fig. 4 is a kind of braking pressure control method flow diagram for automatic driving vehicle provided in an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
The embodiments of the invention provide a kind of brake pressure control apparatus for automatic driving vehicle, as shown in figure 1, nothing
People, which drives vehicle, includes brake pressure control apparatus, control area net(CAN) network CAN, top level control device and wheel, the upper strata
Controller is communicated with the brake pressure control apparatus by the CAN, the brake pressure control apparatus and the wheel phase
Connection, as shown in Fig. 2 the brake pressure control apparatus includes electronic control unit ECU101, hydraulic module 102 and motor 103；
The ECU101, the hydraulic module 102 are connected between any two with the motor 103；
Wherein, the ECU101, the first pressure control for receiving top level control device transmission by the CAN refers to
Order, the first pressure control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction.
It should be noted that detection means is installed in the automatic driving vehicle, should during automatic driving vehicle traveling
Detection means detects the road conditions of road ahead in real time, and sends the road conditions to the top level control device of the automatic driving vehicle.Upper strata
Controller judges whether to need to be braked according to the road conditions, when the top level control device determines to need to be braked, this nobody
Brake pressure increase, constant or reduction that vehicle is applied to by control on wheel are driven, so that the automatic driving vehicle
In the process of moving can be with safety arrestment.
Specifically, when top level control device determines that road ahead needs to be braked, before the top level control device is according to road
Side road conditions, determine the traffic information of road ahead, the traffic information can include road ahead barrier with it is unmanned
The distance between vehicle, or road ahead the distance between red light and automatic driving vehicle etc.；The top level control device according to
The traffic information of road ahead, determines the first object numerical value of the brake pressure of the automatic driving vehicle, by CAN to system
Dynamic pressure force control device sends first pressure control instruction, and the first pressure control instruction carries the first object of the brake pressure
ECU101 in numerical value, the brake pressure control apparatus receives the first pressure control that top level control device is sent by the CAN
System instruction.
The first pressure control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction finger
Order.The first pressure control instruction can be arranged as required to and change, and the embodiment of the present invention is not specifically limited to this.Example
Such as, when automatic driving vehicle determines to need to be braked, the automatic driving vehicle need to be by controlling its brake pressure to increase, should
The first object numerical value of brake pressure is more than the current brake pressure of the automatic driving vehicle, i.e. the first pressure control instruction
Can be to control the instruction that the brake pressure of the automatic driving vehicle increases, so that the brake pressure of automatic driving vehicle reaches
To first object numerical value, the Reduced Speed Now of automatic driving vehicle is realized.
When the brake pressure reaches first object numerical value, the top level control device in the automatic driving vehicle can basis
Traffic information, judges whether to need to reduce the brake pressure or keeps the brake pressure constant, when the top level control device is determined
When needing to reduce the brake pressure, the top level control device determines the brake pressure of the automatic driving vehicle according to traffic information
Second target value, first pressure control instruction, first pressure control are sent by CAN to brake pressure control apparatus
ECU101 in second target value of the instruction carrying brake pressure, the brake pressure control apparatus is connect by the CAN
Receive the first pressure control instruction that top level control device is sent.Now, second target value is less than the first object numerical value, i.e.
The first pressure control instruction is the instruction for controlling the brake pressure of the automatic driving vehicle to reduce.
Similarly, the top level control device determines that the top level control device is by CAN to system when keeping the brake pressure constant
Dynamic pressure force control device sends first pressure control instruction, and the first pressure control instruction is the system for controlling the automatic driving vehicle
The constant instruction of dynamic pressure.
The detection means can be needed to set and change according to user, and the embodiment of the present invention is not specifically limited to this.Example
Such as, the detection means can be infrared facility or radar installations etc..
The top level control device can be needed to set and change according to user, and the embodiment of the present invention is not specifically limited to this.
For example, the top level control device can be the car-mounted terminal of automatic driving vehicle, when car-mounted terminal is detected by infrared facility
When road ahead has barrier, the car-mounted terminal determines to need to be braked.
The first object numerical value and the second target value can be arranged as required to and change, the embodiment of the present invention to this not
It is specifically limited, for example, the first object numerical value can be 10Mpa, second target value can be 8Mpa.
Wherein, the ECU101, is additionally operable to control the work shape of the hydraulic module 102 according to the first pressure control instruction
The working condition of state and the motor 103.The hydraulic module 102 and the motor 103, under ECU101 controls, control to be applied
It is added in brake pressure increase, constant or reduction on the wheel.
Further, master cylinder is also included in the automatic driving vehicle, the master cylinder is used to deposit liquid, the hydraulic pressure
Electromagnetic valve unit is also provided with module 102, electromagnetic valve unit can include in the hydraulic module 102：Normally opened valve cell 1021,
Normally closed valve cell 1022, feed liquor valve cell 1023, liquid valve unit 1024, the master cylinder respectively with the normally opened valve cell 1021
One end, one end of the normally closed valve cell 1022 be connected, the other end of the normally opened valve cell 1021 and the feed liquor valve cell
1023 are connected, and the other end of the normally closed valve cell 1022 is connected with the liquid valve unit 1023, the feed liquor valve cell 1023
It is connected respectively with wheel with the liquid valve unit 1024；
Wherein, the feed liquor valve cell 1023 and the liquid valve unit 1024 are connected by ESP control assembly with wheel
Connect, i.e. the feed liquor valve cell 1023 and the liquid valve unit 1024 are connected with ESP control assembly respectively, ESP controller
Assembly is connected with wheel.
It should be noted that plunger pump unit 1025, the normally opened valve cell 1021 can also be included in the hydraulic module 102
The other end be connected with the plunger pump unit 1025, the plunger pump unit 1025 is connected with the feed liquor valve cell 1023；Should
The other end of normally closed valve cell 1022 is connected with the plunger pump unit 1025, the plunger pump unit 1025 and the liquid valve unit
1023 are connected；The plunger pump unit 1025 is also connected with motor 103.
Fig. 3 is the loop diagram of brake pressure control apparatus, as shown in figure 3, in order to improve the brake pressure control apparatus
Stability, the normally opened valve cell 1021 can include two normally open valves：First normally open valve 1021a and the second normally open valve 1021b；Should
Normally closed valve cell 1022 can include two normally close valves：First normally close valve 1022a and the second normally close valve 1022b；The liquid feed valve list
Member 1023 can include two liquid feed valves：First liquid feed valve 1023a and the second liquid feed valve 1023b；The liquid valve unit
1024 can include two liquid feed valves：First liquid valve 1024a and the second liquid valve 1024b；The plunger pump unit 1025 can be with
Including two plunger pumps：First plunger pump 1025a and the second plunger pump 1025b.
Wherein, one end, first normally close valve 1022a one end of the master cylinder respectively with first normally open valve 1021a
It is connected, first normally open valve 1021a other end is connected with first liquid feed valve 1023a, first normally close valve 1022a's
The other end is connected with first liquid valve 1024a, the first liquid feed valve 1023a and first liquid valve 1024a respectively with this
Wheel is connected；First plunger pump 1025a respectively with motor 103, the first normally open valve 1021a, the first normally close valve 1022a,
One liquid feed valve 1023a, the first liquid valve 1024a are connected；Constitute the loop a of brake pressure control apparatus.Similarly, the braking
Two ends, second normally close valve 1022b two ends of master cylinder respectively with second normally open valve 1021b are connected, second normally open valve
1021b another two end is connected with second liquid feed valve 1023b, and second normally close valve 1022b another two end second goes out liquid with this
Valve 1024b is connected, and the second liquid feed valve 1023b and second liquid valve 1024b are connected with the wheel respectively；Second post
Plug pump 1025b goes out with motor 103, the second normally open valve 1021b, the second normally close valve 1022b, the second liquid feed valve 1023b, second respectively
Liquid valve 1024b is connected；Constitute the loop b of brake pressure control apparatus.
It should be noted that being constituted in brake pressure control apparatus includes loop a and loop b double loop.As loop a
When with loop b being normal, brake pressure control apparatus can pass through loop a and loop b and control brake pressure.When loop a failures
When, brake pressure control apparatus can control brake pressure by loop b；When loop b failures, brake pressure control apparatus can
To control brake pressure by loop a；So as to improve the stability of the brake pressure control apparatus.
Further, the ECU101 can control each list in the electromagnetic valve unit of the hydraulic module 102 by circuit
The working condition of member.
When the first pressure instructs the instruction to control brake pressure increase, the ECU101, being additionally operable to control, this is normal
It is corresponding that valve closing unit 1022, the normally opened valve cell 1021 are revised as its by its corresponding default conditions respectively with the motor 103
First designated state, the feed liquor valve cell 1023 and the liquid valve unit 1024 keep its corresponding default conditions, to pass through control
The liquid in the master cylinder is made so that the brake pressure increase being applied on the wheel.
Wherein, amended state is and default conditions is revised as into change default conditions, i.e. the first designated state to be
Change default conditions.The default conditions of normally opened valve cell 1021 are opening, then its corresponding first designated state after changing
For closed mode；The default conditions of normally closed valve cell 1022 are closed mode, then its corresponding first designated state is after changing
Opening；The default conditions of feed liquor valve cell 1023 are that its corresponding first designated state is after then changing into liquid status
Liquid status；The default conditions of liquid valve unit 1024 are liquid status, then its corresponding first designated state is feed liquor after changing
State.
It should be noted that when feed liquor valve cell 1023 is into liquid status, feed liquor valve cell 1023 is just in the loop
Wheel can be flowed to circulation status, i.e. liquid from plunger pump unit 1025 through the feed liquor valve cell 1023；When feed liquor valve cell
1023 is change during default conditions, and equivalent to the change default conditions of normally opened valve cell 1021, liquid cannot flow in the loop
Lead to the feed liquor valve cell 1023.When liquid valve unit 1024 is default conditions, equivalent to the acquiescence shape of normally closed valve cell 1022
State, in the loop liquid cannot circulate the liquid valve unit 1024；When liquid valve unit 1024 is changes default conditions,
Liquid valve unit 1024 is that reverse circulated state, i.e. liquid can flow to braking from wheel through the liquid valve unit 1024 in loop
(now normally opened valve cell 1021 changes default conditions to master cylinder；Normally closed valve cell 1022 changes default conditions).
It should be noted that brake pressure control apparatus is in real work, motor 103 is connected with plunger pump unit 1025
Connect, ECU101 is by the working condition of controlled motor 103, so that the working condition of plunger pump unit 1025 is controlled, motor 103
Default conditions can be closed mode, then its corresponding first designated state is opening after changing.Motor 103 is unlatching shape
During state, the control plunger of motor 103 pump unit 1025 is opening, so that plunger pump unit 1025 can suck liquid,
And discharge liquid；When motor 103 is closed mode, the control plunger of motor 103 pump unit 1025 is closed mode, so that post
Plug pump unit 1025 neither sucks liquid, does not also discharge liquid.
For example, being illustrated by taking the loop a in brake pressure control apparatus as an example, as shown in figure 3, ECU101 passes through control
First normally open valve 1021a is that to change default conditions, the first normally close valve 1022a be to change default conditions and the motor 103 to open
State is opened, first liquid feed valve 1023a is that default conditions, first liquid valve 1024a are default conditions, so that braking master
Liquid in cylinder sequentially passes through the first normally close valve 1022a, the first plunger pump 1025a, the first liquid feed valve 1023a and flows to wheel, from
And the brake pressure being applied on wheel is increased.
Further, the hydraulic module 102 also includes pressure sensor 1026 and pipeline 1027, the pressure sensor 1026
It is connected respectively with the pipeline 1027 and the ECU101.
Wherein, the pressure sensor 1026, the pressure for detecting the pipeline 1027 sends the pipeline to the ECU101
1027 pressure；
The ECU101, the pressure for receiving the pipeline 1027, according to the pressure of the pipeline 1027, it is determined that this is applied to car
Whether the brake pressure on wheel reaches first object numerical value.Because the pipeline 1027 and wheel are connected state, this can be managed
The pressure in road 1027 is used as the brake pressure being applied on wheel, i.e. when the pressure of the pipeline 1027 reaches first object numerical value
When, it is determined that the brake pressure being applied on wheel reaches first object numerical value.
In a kind of possible design provided in an embodiment of the present invention, in order to improve the accuracy of control brake pressure, may be used also
To consider the pressure differential between pipeline 1027 and wheel, the brake pressure of the pipeline 1027 and wheel is demarcated, demarcation should
When the pressure of pipeline 1027 reaches three target values, the brake pressure of the wheel reaches first object numerical value.
Wherein, the 3rd target value can set and change as needed, and the embodiment of the present invention does not do specific limit to this
It is fixed.For example, the 3rd target value can be 11Mpa.
When it is the instruction for controlling the brake pressure constant that the first pressure, which is instructed, the ECU101, being additionally operable to control, this is normal
Valve closing unit 1022, the normally opened valve cell 1021, the liquid valve unit 1024 keep its corresponding acquiescence shape with the motor 103
State, the feed liquor valve cell 1023 is revised as its corresponding second designated state by its default conditions, with by controlling braking master
Liquid in cylinder causes the brake pressure being applied on the wheel to keep constant.
Further, the ECU101, the pressure for receiving the pipeline 1027, according to the pressure of the pipeline 1027, it is determined that
Whether the brake pressure being applied on wheel keeps constant.Wherein, the implementation determines that this is applied to car with the ECU101
Whether the brake pressure on wheel reaches that the implementation of first object numerical value is consistent, no longer repeats one by one herein.
Wherein, second designated state is the change default conditions of the feed liquor valve cell 1023.
As shown in figure 3, illustrated by taking the loop a in brake pressure control apparatus as an example, ECU101 by control this
One normally open valve 1021a is that default conditions, the first normally close valve 1022a are default conditions and the motor 103 is closed mode, and this first
Liquid feed valve 1023a is that to change default conditions, first liquid valve 1024a be default conditions, due to the first liquid feed valve 1023a to change
When becoming default conditions, in front and rear not connected state, and the closed mode of motor 103, i.e. the first plunger pump 1025a neither suck liquid
Body, does not also discharge liquid.Therefore, the liquid in master cylinder will not flow to wheel, so that being applied to the braking on wheel
Pressure keeps constant.
When the first pressure instructs the instruction to control brake pressure reduction, the ECU101, being additionally operable to control, this is normal
Valve closing unit 1022 keeps its corresponding default conditions, the feed liquor valve cell 1023, the liquid valve with the normally opened valve cell 1021
Unit 1024 is revised as its corresponding 3rd designated state by its corresponding default conditions respectively with the motor 103, to pass through control
The liquid in the master cylinder is made so that the brake pressure being applied on the wheel reduces.
Further, the ECU101, the pressure for receiving the pipeline 1027, according to the pressure of the pipeline 1027, it is determined that
The brake pressure being applied on wheel, which is to maintain, reaches the second target value.Wherein, the implementation is determined with the ECU101
Whether the brake pressure being applied on wheel reaches that the implementation of first object numerical value is consistent, no longer repeats one by one herein.
As shown in figure 3, illustrated by taking the loop a in brake pressure control apparatus as an example, ECU101 by control this
One normally open valve 1021a is that default conditions, the first normally close valve 1022a are default conditions and the motor 103 is opening, and this first
Liquid feed valve 1023a is that to change default conditions, first liquid valve 1024a be to change default conditions, due to the first liquid valve 1024a
Give tacit consent to (going out liquid) state for change and the opening of motor 103, i.e. the first plunger pump 1025a can suck liquid, and discharge liquor
Body, therefore, the liquid in wheel can sequentially pass through first liquid valve 1024a, the first plunger pump 1025a, this is first normally opened
Valve 1021a flows to master cylinder, so that the brake pressure being applied on wheel reduces.
Wherein, the working condition of each valve and the brake pressure control apparatus in the electromagnetic valve unit of the hydraulic module 102
The variable condition of brake pressure is controlled as shown in following table one：
Table one：
Further, when the ECU101 determines that this is applied to the brake pressure on wheel and increases to first object numerical value,
Or, when the ECU101 determines that this is applied to the brake pressure on wheel and is reduced to the second target value, the ECU101 passes through
The working condition of the hydraulic module 102 and the working condition of the motor 103 are controlled, control is applied to the brake pressure on the wheel
It is constant.
Further, in order to avoid because of excessive and cause wheel lock up, the brake pressure control that is applied to wheel brake pressure
Device processed is also connected including electronic stability module ESP104, the ESP104 with the ECU101.
Wherein, ESP104, for detecting the rotating speed of the wheel and the travel speed of the automatic driving vehicle, when the rotating speed
During less than the travel speed, carry out braking pressure control, and to the ECU101 send ESP104 working condition.
It should be noted that automatic driving vehicle can be by the ESP104, detecting the wheel of the automatic driving vehicle is
It is no to be in locking state, i.e. the ESP104 detects the rotating speed of wheel and the travel speed of the automatic driving vehicle in real time, when this
ESP104 detect the wheel rotating speed be less than the automatic driving vehicle travel speed when, the ESP104 determine it is described nobody drive
The wheel for sailing vehicle is locking state.Now, the ESP104 passes through the working condition to ECU101 transmissions ESP104 so that braking
Hydraulic module 102 and motor 103 in pressure control device is under ECU101 controls, and control is applied to the brake pressure on wheel
Reduce.So as to avoid the wheel lock up of the automatic driving vehicle.
The ECU101, the working condition for receiving ESP104 generates second pressure according to the working condition of the ESP104
Control instruction, according to the second pressure control instruction, controls the working condition of the hydraulic module 102 and the work of the motor 103
State；The hydraulic module 102 and the motor 103, under ECU101 controls, control to be applied to the braking pressure on the wheel
Power is less than predetermined threshold value.
Wherein, when the ESP104 determines the wheel of the automatic driving vehicle for locking state, the work shape of the ESP104
State is the state for entering control brake pressure, i.e. ESP104 controls the brake pressure of wheel by the control unit in ESP104,
So that the brake pressure on wheel reduces, also, the ESP104 sends ESP104 working condition to ECU101, and the ECU101 connects
After the working condition for receiving the ESP104, second pressure control instruction can be generated according to the working condition.
Specifically, the ECU101 is instructed according to the second pressure, the normally closed valve cell 1022, the normally opened valve cell are controlled
1021st, the liquid valve unit 1024 and the motor 103 are revised as its by its corresponding default conditions respectively and the corresponding 4th specified
State, the feed liquor valve cell 1023 keeps its default conditions, with by controlling the liquid in the master cylinder so that being applied to this
Brake pressure on pipeline 1027 is less than the predetermined threshold value.
Wherein, the predetermined threshold value can be arranged as required to and change, and the embodiment of the present invention is not especially limited to this.Example
Such as, the predetermined threshold value can be 12Mpa.
As shown in figure 3, illustrated by taking the loop a in brake pressure control apparatus as an example, ECU101 by control this
One normally open valve 1021a is that to change default conditions, the first normally close valve 1022a be that to change default conditions and the motor 103 be to open shape
State, first liquid feed valve 1023a is that default conditions, first liquid valve 1024a are to change default conditions, due to the first liquid valve
1024a is change default conditions and the opening of motor 103, i.e. the first plunger pump 1025a can suck liquid, and discharge liquor
Body, therefore, the liquid in wheel can sequentially pass through first liquid valve 1024a, first normally close valve 1022a flow direction braking master
Cylinder, so that the brake pressure being applied on wheel reduces.
Meanwhile, first normally close valve 1022a is changes default conditions, and the first liquid valve 1024a is change default conditions, because
This, when the brake pressure on wheel is too small, the liquid in master cylinder can also sequentially pass through the first normally close valve 1022a,
One plunger pump 1025a, the first liquid feed valve 1023a flow to the brake pressure on wheel, increase wheel, so that being applied to wheel
On be unlikely to too small.So as to realize that the brake pressure of control wheel reduces and control brake pressure increases alternately.
Wherein, it is to avoid during wheel lock up, in the electromagnetic valve unit of the hydraulic module 102 each valve working condition such as following table
Shown in two：
Table two：
In a kind of possible design provided in an embodiment of the present invention, the automatic driving vehicle also includes instrument, and the instrument is led to
The CAN is crossed with the ESP104 to be connected；
When the brake pressure control apparatus failure, the ESP104 is additionally operable to receive the top level control by the CAN
The 3rd Stress control instruction that device is sent, instructs according to the 3rd Stress control, controls the brake pressure of the automatic driving vehicle,
The instruction of 3rd Stress control is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；Should
ESP104, is additionally operable to send fault cues message to the instrument by the CAN；The instrument, for receiving the fault cues
Message, shows the fault cues message.
It should be noted that the brake pressure device can be sent fault cues message to instrument, i.e., should by ESP104
ESP104, is additionally operable to send fault cues message to the instrument by the CAN；
Or, if the ECU101 in the brake pressure device does not have failure, the brake pressure device can also pass through
ECU101 sends fault cues message, the i.e. ECU101 to instrument, is additionally operable to carry to instrument transmission failure by the CAN
Show message.
In the embodiment of the present invention, automatic driving vehicle includes CAN, top level control device, brake pressure control apparatus
And wheel, the top level control device communicated with the brake pressure control apparatus by the CAN, braking pressure control dress
Put and be connected with the wheel, the brake pressure control apparatus includes electronic control unit ECU101, hydraulic module 102 and motor
103；The ECU101, the hydraulic module 102 are connected between any two with the motor 103；The ECU101, for passing through the CAN
Bus receives the first pressure control instruction of top level control device transmission, and this is unmanned for control for the first pressure control instruction
The brake pressure increase of vehicle, constant or reduction instruction；The ECU101, is additionally operable to according to the first pressure control instruction, control
Make the working condition of the hydraulic module 102 and the working condition of the motor 103.So that the hydraulic module 102 and the motor
103 under ECU101 controls, and control is applied to brake pressure increase, constant or reduction on the wheel.
The embodiment of the present invention provides a kind of braking pressure control method for automatic driving vehicle, and this method is applied in system
In dynamic pressure force control device, automatic driving vehicle includes control area net(CAN) network CAN, top level control device, the brake pressure
Control device and wheel, the top level control device are communicated with the brake pressure control apparatus by the CAN, the braking pressure
Force control device is connected with the wheel, and the brake pressure control apparatus includes electronic control unit ECU101, hydraulic module 102
With motor 103；The ECU101, the hydraulic module 102 are connected between any two with the motor 103；As shown in figure 4, this method
Including：
Step 201：The ECU101 receives the first pressure control instruction that the top level control device is sent by the CAN,
The first pressure control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
Step 202：The ECU101 according to the first pressure control instruction, control the hydraulic module 102 working condition and
The working condition of the motor 103；
Step 203：The hydraulic module 102 and the motor 103 are under ECU101 controls, and control is applied on the wheel
Brake pressure increase, constant or reduction.
Optionally, master cylinder is also included in the automatic driving vehicle, the hydraulic module 102 includes normally opened valve cell
1021st, normally closed valve cell 1022, feed liquor valve cell 1023, liquid valve unit 1024, the master cylinder respectively with the normally open valve list
One end, one end of the normally closed valve cell 1022 of member 1021 are connected, the other end and the liquid feed valve of the normally opened valve cell 1021
Unit 1023 is connected, and the other end of the normally closed valve cell 1022 is connected with the liquid valve unit 1024, the feed liquor valve cell
1023 and the liquid valve unit 1024 be connected respectively with the wheel；
When the first pressure instructs the instruction to control brake pressure increase, the ECU101 controls the normally closed valve cell
1022nd, the normally opened valve cell 1021 and the motor 103 are revised as its by its corresponding default conditions respectively and corresponding first specified
State, the feed liquor valve cell 1023 and the liquid valve unit 1024 keep its corresponding default conditions, with by controlling the braking
Liquid in master cylinder causes the brake pressure being applied on the wheel to increase；
When it is the instruction for controlling the brake pressure constant that the first pressure, which is instructed, the ECU101 controls the normally closed valve cell
1022nd, the normally opened valve cell 1021, the liquid valve unit 1024 keep its corresponding default conditions, the feed liquor with the motor 103
Valve cell 1023 is revised as its corresponding second designated state by its default conditions, with by controlling the liquid in the master cylinder
So that the brake pressure being applied on the wheel keeps constant；
When the first pressure instructs the instruction to control brake pressure reduction, the ECU101 controls the normally closed valve cell
1022 keep its corresponding default conditions, the feed liquor valve cell 1023, the liquid valve unit 1024 with the normally opened valve cell 1021
Its corresponding 3rd designated state is revised as by its corresponding default conditions respectively with the motor 103, with by controlling the braking
Liquid in master cylinder causes the brake pressure being applied on the wheel to keep constant.
Optionally, the brake pressure control apparatus also includes electronic stability module ESP104, the ESP104 and the ECU101
It is connected；
The ESP104 detects the rotating speed of the wheel and the travel speed of the automatic driving vehicle；
When the rotating speed is less than the travel speed, the ESP104 carries out braking pressure control, and is sent to the ECU101
ESP104 working condition；
The ECU101 receives ESP104 working condition, and generating second pressure control according to ESP104 working condition refers to
Order, according to the second pressure control instruction, controls the working condition of the hydraulic module 102 and the working condition of the motor 103；
The hydraulic module 102 and the motor 103 are under ECU101 controls, and control is applied to the brake pressure on the wheel
Less than predetermined threshold value.
Optionally, the ECU101 is instructed according to the second pressure, controls the normally closed valve cell 1022, the normally opened valve cell
1021st, the liquid valve unit 1024 and the motor 103 are revised as its by its corresponding default conditions respectively and the corresponding 4th specified
State, the feed liquor valve cell 1023 keeps its default conditions, with by controlling the liquid in the master cylinder so that being applied to this
Brake pressure on wheel is less than the predetermined threshold value.
Optionally, the automatic driving vehicle also includes instrument, and the instrument is connected by the CAN with the ESP104；
When the brake pressure control apparatus failure, the ESP104 receives the top level control device by the CAN and sent
The 3rd Stress control instruction, according to the 3rd Stress control instruct, control the brake pressure of the automatic driving vehicle, the 3rd
Stress control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
The ESP104 sends fault cues message by the CAN to the instrument；
The instrument receives the fault cues message, shows the fault cues message.
In the embodiment of the present invention, automatic driving vehicle includes CAN, top level control device, brake pressure control apparatus
And wheel, the top level control device communicated with the brake pressure control apparatus by the CAN, braking pressure control dress
Put and be connected with the wheel, the brake pressure control apparatus includes electronic control unit ECU101, hydraulic module 102 and motor
103；The ECU101, the hydraulic module 102 are connected between any two with the motor 103；The ECU101 is connect by the CAN
The first pressure control instruction of top level control device transmission is received, the first pressure control instruction is to control the automatic driving vehicle
Brake pressure increase, constant or reduction instruction；The ECU101 controls the hydraulic module according to the first pressure control instruction
The working condition of 102 working condition and the motor 103.So that the hydraulic module 102 and the motor 103 are in the ECU101
Under control, control is applied to brake pressure increase, constant or reduction on the wheel.
It should be noted that：Above-described embodiment provide the brake pressure control apparatus for automatic driving vehicle for
During the braking pressure control of automatic driving vehicle, only with the division progress of above-mentioned each functional module for example, in practical application,
It can as needed and by above-mentioned functions distribute and be completed by different functional modules, i.e., the internal structure of device is divided into difference
Functional module, to complete all or part of function described above.In addition, being used for for above-described embodiment offer is unmanned
The brake pressure control apparatus of vehicle belongs to same design with the braking pressure control embodiment of the method for automatic driving vehicle,
It implements process and refers to embodiment of the method, repeats no more here.
One of ordinary skill in the art will appreciate that realizing that all or part of step of above-described embodiment can be by hardware
To complete, it can also be completed by the related software of programmed instruction, described program can be stored in a kind of computer-readable deposit
In storage media, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (10)
1. a kind of brake pressure control apparatus for automatic driving vehicle, it is characterised in that automatic driving vehicle includes control
LAN CAN processed, top level control device, brake pressure control apparatus and wheel, the top level control device and the braking
Pressure control device is communicated by the CAN, and the brake pressure control apparatus is connected with the wheel, described
Brake pressure control apparatus includes electronic control unit ECU, hydraulic module and motor；The ECU, the hydraulic module and described
Motor is connected between any two；
The ECU, it is described for receiving the first pressure control instruction that the top level control device is sent by the CAN
First pressure control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
The ECU, is additionally operable to according to the first pressure control instruction, controls the working condition and the electricity of the hydraulic module
The working condition of machine；
The hydraulic module and the motor, under ECU controls, control to be applied to the brake pressure on the wheel
Increase, constant or reduction.
2. brake pressure control apparatus according to claim 1, it is characterised in that also include in the automatic driving vehicle
Master cylinder, the hydraulic module includes normally opened valve cell, normally closed valve cell, feed liquor valve cell, liquid valve unit, the braking
One end, the one end of the normally closed valve cell of master cylinder respectively with the normally opened valve cell are connected, the normally opened valve cell it is another
One end is connected with the feed liquor valve cell, and the other end of the normally closed valve cell is connected with the liquid valve unit, described
Feed liquor valve cell and the liquid valve unit are connected with the wheel respectively；
When the first pressure instructs the instruction to control the brake pressure increase, the ECU is additionally operable to control described often
Valve closing unit, the normally opened valve cell and the motor are revised as its by its corresponding default conditions respectively corresponding first specifies
State, the feed liquor valve cell and the liquid valve unit keep its corresponding default conditions, with by controlling the braking to lead
Liquid in cylinder causes the brake pressure being applied on the wheel to increase；
When the first pressure is instructed as the constant instruction of the control brake pressure, the ECU is additionally operable to control described often
Valve closing unit, the normally opened valve cell, the liquid valve unit and the motor keep its corresponding default conditions, the feed liquor
Valve cell is revised as its corresponding second designated state by its default conditions, with by controlling the liquid in the master cylinder to make
The brake pressure that must be applied on the wheel keeps constant；
When the first pressure instructs the instruction to control the brake pressure reduction, the ECU is additionally operable to control described often
Valve closing unit and the normally opened valve cell keep its corresponding default conditions, the feed liquor valve cell, the liquid valve unit and
The motor is revised as its corresponding 3rd designated state by its corresponding default conditions respectively, with by controlling the braking to lead
Liquid in cylinder causes the brake pressure being applied on the wheel to keep constant.
3. brake pressure control apparatus according to claim 1 or 2, it is characterised in that the brake pressure control apparatus
Also it is connected including electronic stability module ESP, the ESP with the ECU；
The ESP, for detecting the rotating speed of the wheel and the travel speed of the automatic driving vehicle；
The ESP, is additionally operable to, when the rotating speed is less than the travel speed, carry out braking pressure control, and send out to the ECU
Send the working condition of the ESP；
The ECU, is additionally operable to receive the working condition of the ESP, and the second pressure is generated according to the working condition of the ESP
Control instruction, according to the second pressure control instruction, controls the working condition of the hydraulic module and the work of the motor
State；
The hydraulic module and the motor, under ECU controls, control to be applied to the brake pressure on the wheel
Less than predetermined threshold value.
4. brake pressure control apparatus according to claim 3, it is characterised in that
The ECU, is additionally operable to be instructed according to the second pressure, controls the normally closed valve cell, the normally opened valve cell, described
Liquid valve unit and the motor are revised as its corresponding 4th designated state, the feed liquor by its corresponding default conditions respectively
Valve cell keeps its default conditions, with by controlling the liquid in the master cylinder so that being applied to the braking on the wheel
Pressure is less than the predetermined threshold value.
5. brake pressure control apparatus according to claim 2, it is characterised in that the automatic driving vehicle also includes instrument
Table, the instrument is connected by the CAN with the ESP；
When the brake pressure control apparatus failure, the ESP is additionally operable to receive the upper strata control by the CAN
The 3rd Stress control instruction that device processed is sent, instructs according to the 3rd Stress control, controls the system of the automatic driving vehicle
Dynamic pressure, the 3rd Stress control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction
Instruction；
The ESP, is additionally operable to send fault cues message to the instrument by the CAN；
The instrument, for receiving the fault cues message, shows the fault cues message.
6. a kind of braking pressure control method for automatic driving vehicle, it is characterised in that methods described is applied in braking pressure
In force control device, automatic driving vehicle includes control area net(CAN) network CAN, top level control device, the brake pressure control
Device and wheel processed, the top level control device are communicated with the brake pressure control apparatus by the CAN, described
Brake pressure control apparatus is connected with the wheel, and the brake pressure control apparatus includes electronic control unit ECU, hydraulic pressure
Module and motor；The ECU, the hydraulic module are connected between any two with the motor；
The ECU receives the first pressure control instruction that the top level control device is sent, first pressure by the CAN
Power control instruction is the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
The ECU controls the working condition of the hydraulic module and the work of the motor according to the first pressure control instruction
Make state；
The hydraulic module and the motor under ECU controls, control be applied to brake pressure increase on the wheel,
Constant or reduction.
7. method according to claim 6, it is characterised in that also include master cylinder, institute in the automatic driving vehicle
Hydraulic module is stated including normally opened valve cell, normally closed valve cell, feed liquor valve cell, liquid valve unit, the master cylinder respectively with
One end of the normally opened valve cell, one end of the normally closed valve cell are connected, the other end of the normally opened valve cell with it is described
Feed liquor valve cell is connected, and the other end of the normally closed valve cell is connected with the liquid valve unit, the feed liquor valve cell
It is connected respectively with the wheel with the liquid valve unit；
When the first pressure instructs the instruction to control the brake pressure increase, the ECU controls the normally close valve list
First, described normally opened valve cell and the motor are revised as its corresponding first designated state by its corresponding default conditions respectively,
The feed liquor valve cell and the liquid valve unit keep its corresponding default conditions, with by controlling in the master cylinder
Liquid causes the brake pressure being applied on the wheel to increase；
When the first pressure is instructed as the constant instruction of the control brake pressure, the ECU controls the normally close valve list
First, described normally opened valve cell, the liquid valve unit and the motor keep its corresponding default conditions, the feed liquor valve cell
Its corresponding second designated state is revised as by its default conditions, with by controlling the liquid in the master cylinder to cause application
Brake pressure on the wheel keeps constant；
When the first pressure instructs the instruction to control the brake pressure reduction, the ECU controls the normally close valve list
First and described normally opened valve cell keeps its corresponding default conditions, the feed liquor valve cell, the liquid valve unit and the electricity
Machine is revised as its corresponding 3rd designated state by its corresponding default conditions respectively, with by controlling in the master cylinder
Liquid causes the brake pressure being applied on the wheel to keep constant.
8. the method according to claim 6 or 7, it is characterised in that it is steady that the brake pressure control apparatus also includes electronics
Cover half block ESP, the ESP are connected with the ECU；
The ESP detects the rotating speed of the wheel and the travel speed of the automatic driving vehicle；
When the rotating speed is less than the travel speed, the ESP carries out braking pressure control, and sends described to the ECU
ESP working condition；
The ECU receives the working condition of the ESP, and second pressure control instruction, root are generated according to the working condition of the ESP
According to the second pressure control instruction, the working condition of the hydraulic module and the working condition of the motor are controlled；
The hydraulic module and the motor control the brake pressure being applied on the wheel to be less than under ECU controls
Predetermined threshold value.
9. method according to claim 8, it is characterised in that
The ECU is instructed according to the second pressure, controls the normally closed valve cell, the normally opened valve cell, the liquid valve
Unit and the motor are revised as its corresponding 4th designated state, the feed liquor valve cell by its corresponding default conditions respectively
Its default conditions is kept, with by controlling the liquid in the master cylinder so that the brake pressure being applied on the wheel is small
In the predetermined threshold value.
10. method according to claim 7, it is characterised in that the automatic driving vehicle also includes instrument, the instrument
It is connected by the CAN with the ESP；
When the brake pressure control apparatus failure, the ESP receives the top level control device by the CAN and sent
The instruction of the 3rd Stress control, instructed according to the 3rd Stress control, control the brake pressure of the automatic driving vehicle, institute
The instruction of the 3rd Stress control is stated for the brake pressure increase for controlling the automatic driving vehicle, constant or reduction instruction；
The ESP sends fault cues message by the CAN to the instrument；
The instrument receives the fault cues message, shows the fault cues message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710383473.8A CN107139907B (en) | 2017-05-26 | 2017-05-26 | Braking pressure control method and apparatus for automatic driving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710383473.8A CN107139907B (en) | 2017-05-26 | 2017-05-26 | Braking pressure control method and apparatus for automatic driving vehicle |
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| CN107139907A true CN107139907A (en) | 2017-09-08 |
| CN107139907B CN107139907B (en) | 2019-08-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110539739A (en) * | 2019-09-27 | 2019-12-06 | 成都坦途智行科技有限公司 | Unmanned vehicle line control braking system and braking method |
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| CN203766749U (en) * | 2014-02-08 | 2014-08-13 | 同济大学 | Electro-hydraulic composite braking upper-layer controller based on integrated brake master cylinder |
| CN105799771A (en) * | 2016-03-16 | 2016-07-27 | 奇瑞汽车股份有限公司 | Manual/automatic switching automobile steering device |
| CN106042978A (en) * | 2016-07-11 | 2016-10-26 | 吉林大学 | Self-adaptive cruising system and control method |
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